基于宏动并联机构的多维控制器设计与研究

发布时间：2019-06-27 19:25

【摘要】：本课题主要致力于一种基于3-UPS宏动并联机构的六维控制器分析与设计,解决现有研究中存在的两类问题：其一是针对目前基于微动并联机构的多维控制器通常无法满足用户体觉感受,而且制造成本偏高；其二对于采用多个控制组件的六维控制器在需要同时实现多维运动时必须同时操作多个按键,导致使用不方便,缺乏真实运动感。本课题主要完成了以下几部分工作：1)提出了一种基于运动螺旋的并联机构构型分析方法。用该方法分析了常用的UPS、SPS运动链末端运动特征,并绘制了UPS、SPS运动链末端奇异位形曲面。该方法将为构型具有不同运动维数、运动特征和解耦特性的并联机构提供理论依据。2)分析了六维控制器主体机构3-UPS并联机构的运动学性能,并对其进行了结构参数优化设计。首先求解了机构运动学正反解,提出了一种基于单支链工作空间的极坐标边界搜索方法,用MATLAB绘制了3-UPS并联机构的定姿态工作空间,并建立了机构参数与工作空间截面面积及体积的数学关系,分析了机构参数对工作空间的影响。然后求解了机构的速度雅可比矩阵,并分析了3-UPS并联机构的灵巧性。3)提出了一种改进的遗传算法,并以工作空间与机构体积比值最大为目标对机构关键参数进行优化设计,确定了最终机构参数。4)设计了配套的交互式仿真系统。首先根据3-UPS并联机构特点选择了合适的关节变量传感器,设计了系统控制电路,完成了传感器信号采集与处理以及上下位机的数据通信。设计了配套的上位机程序,提出了基于Lab VIEW和VC++ OpenGL的两种虚拟场景搭建方法。最终完成了交互式仿真系统的设计。本课题的研究成果能够广泛应用于虚拟现实技术、遥操作技术、计算机辅助设计、计算机三维动画设计以及数据可视化等需要多维控制的领域。
[Abstract]:This paper mainly focuses on the analysis and design of a six-dimensional controller based on 3-UPS macro-dynamic parallel mechanism, and solves two kinds of problems existing in the existing research: one is that the multi-dimensional controller based on micro-moving parallel mechanism usually can not meet the user's somatosensory feeling, and the manufacturing cost is on the high side; Second, the six-dimensional controller with multiple control components must operate multiple keys at the same time when it needs to realize multi-dimensional motion at the same time, which leads to inconvenient use and lack of real motion sense. The main work of this paper is as follows: 1) A configuration analysis method of parallel mechanism based on moving spiral is proposed. The kinematic characteristics of the end of UPS,SPS kinematic chain are analyzed by this method, and the singular configuration surface at the end of UPS,SPS kinematic chain is drawn. This method will provide a theoretical basis for the parallel mechanism with different motion dimensions, motion characteristics and decoupling characteristics. 2) the kinematic performance of the six-dimensional controller main mechanism 3-UPS parallel mechanism is analyzed, and its structural parameters are optimized. Firstly, the forward and inverse solutions of mechanism motion are solved, and a polar coordinate boundary search method based on single branch chain workspace is proposed. The attitude setting workspace of 3-UPS parallel mechanism is drawn with MATLAB, and the mathematical relationship between mechanism parameters and workspace cross section area and volume is established, and the influence of mechanism parameters on workspace is analyzed. Then the speed Jacob matrix of the mechanism is solved, and the dexterity of 3-UPS parallel mechanism is analyzed. 3) an improved genetic algorithm is proposed, and the key parameters of the mechanism are optimized with the goal of the maximum volume ratio of workspace to mechanism, and the final mechanism parameters are determined. 4) the matching interactive simulation system is designed. Firstly, according to the characteristics of 3-UPS parallel mechanism, the suitable joint variable sensor is selected, the control circuit of the system is designed, and the signal acquisition and processing of the sensor and the data communication of the upper and lower computer are completed. A matching upper computer program is designed, and two virtual scene construction methods based on Lab VIEW and VC OpenGL are proposed. Finally, the design of interactive simulation system is completed. The research results of this subject can be widely used in virtual reality technology, teleoperation technology, computer aided design, computer 3D animation design and data visualization and other fields that need multi-dimensional control.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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